we are going from michigan to yellowstone in sept, pulling a camper, and we didnt want to make reservations along the way. We have reservations in yellowstone, and at custer on the way home. We wanted to just pull off were ever we made it, and either hit a rest area, or a parking lot on the way. Is this safe? Legal? This is our first long trip so we are a little unsure of what to expect along the way.